function [vL,vR,vLo,vRo,fo]=RFNN_EKF_cal_v4(xd,yd,dg,sig,x,y,car_angle,do,sio,xo,yo,dgo,doo,sigo,sioo)
    aph=0.3;
%     b=0.098;
    b=0.2;
    S=[dg,do,sig,sio];
    dt=0.1;
     % 初始化静态变量
    persistent a;
    if isempty(a)
            a=[0.11,0.14,0.17,0.62,0.57,0.05,0.93,0.73,0.74,0.06,0.86,0.93,0.98,0.86,0.79,0.51;
                0.18,0.40,0.13,0.03,0.94,0.30,0.30,0.33,0.47,0.65,0.03,0.84,0.56,0.85,0.35,0.45];
%             a=[0.44,0.63,0.21,0.64,0.97,0.70,0.88,0.93,0.95,0.52,0.18,0.82,0.05,0.13,0.93,0.28;
%                 0.94,0.68,0.67,0.38,0.87,0.56,0.30,0.85,0.78,0.97,0.98,0.60,0.01,0.26,0.31,0.23];
    end
    persistent k x_pre y_pre car_angle_pre vL_pre vR_pre xo_pre yo_pre;
    if isempty(k)
        k=0;
        x_pre=0;
        y_pre=0;
        car_angle_pre=0;
        vL_pre=0;
        vR_pre=0;
        xo_pre=0;
        yo_pre=0;
    end
    %神经网络部分计算输出
    W=a*sum(S(:));
    [Outputs,Fnk]=RFNNpro_v(S,W);
    vR=Outputs(1)/(1+aph*abs(Outputs(1)));
    vL=Outputs(2)/(1+aph*abs(Outputs(2)));
    ran_error=-1+2*rand();
    vLo=vL+0.015*ran_error;
    ran_error=-1+2*rand();
    vRo=vR+0.015*ran_error;
    fo=0;
%     if(do==4)
%         [vL,vR]=straight_move(Outputs,dg,sig,aph,b);
%         fo=1;
%     else
%         vR=Outputs(1)/(1+aph*abs(Outputs(1)));
%         vL=Outputs(2)/(1+aph*abs(Outputs(2)));
%         fo=0;
%     end
    S_pre=sum(S(:));
    Fnk_pre=Fnk;
    Outputs_pre=Outputs;
    v=(vL+vR)/2;
    w=(vR-vL)/(2*b);
    if(k~=0)
        v_pre=(vL_pre+vR_pre)/2;
        w_pre=(vR_pre-vL_pre)/(2*b);
        pre_po=[x_pre;y_pre;car_angle_pre]+dt*[cos(car_angle_pre),0;sin(car_angle_pre),0;0,1]*[v_pre;w_pre];
        [pre_dg,pre_sig,pre_do,pre_sio]=predict_tar_po(pre_po,xo,yo,xd,yd);
        aIN=[a(1,:),a(2,:)];
        [dg_a,do_a,sig_a,sio_a]=jac_obt(aIN,Fnk_pre,S_pre,Outputs_pre,aph,b,car_angle,xd,yd,x,y,v,w,xo,yo);
        aOUT=EKF_v4(dg_a,do_a,sig_a,sio_a,dgo,doo,sigo,sioo,aIN,pre_dg,pre_do,pre_sig,pre_sio);
        a=aOUT;
    end
    k=k+1;
    x_pre=x;
    y_pre=y;
    car_angle_pre=car_angle;
    vL_pre=vL;
    vR_pre=vR;
    xo_pre=xo;
    yo_pre=yo;
end